Foam molding method and injection molding machine

ABSTRACT

To provide a new foam molding method and injection molding machine capable of solving variation in a wall thickness and a foamed state, sensor corrosion, a complexity of sensor positioning, and the like. The above-described problem is solved by a foam molding method comprising a resin filling step of filling a mold (2), clamped by a predetermined mold clamping force (Pc), with a resin (R) at a predetermined molding injection pressure (Pi), a filling stopping step of stopping the filling of the resin (R) when, while monitoring a mold gap (Lm) of the mold (2) during the filling, a predetermined mold gap value set in advance is reached, a surface layer curing and filled resin cooling step of curing a surface layer of the resin (R) for a certain time and cooling the filled resin (R) for a certain time after the filling of the resin (R) is stopped, a volume controlling step of controlling a volume increase by reducing the mold clamping force after curing the surface layer of the resin (R) for a certain time, and a taking out step of taking out a foam-molded product by opening the mold (2) after the volume control is performed and after cooling the filled resin (R) for a certain time.

CROSS REFERENCE TO RELATED APPLICATION

This Application is a Divisional of U.S. patent application Ser. No.16/921,293, filed Jul. 6, 2020, which is based on, and claims priorityfrom the prior Japanese Patent Application No. 2019-125817, filed onJul. 5, 2019, the entire contents of which are incorporated herein byreference.

FIELD OF THE INVENTION

The present invention relates to a foam molding method and an injectionmolding machine, and more specifically to a foam molding method and aninjection molding machine that utilize an injection pressure forperforming a just-packing control inside a molding mold and a moldclamping force at which an opening of a mold parting line appears wheninjection molding is performed at the injection pressure, andinformation from a gap sensor of the mold parting line.

BACKGROUND ART

Weight saving of automobile parts in demand and, particularly for largeparts, foam-molded products that can realize weight saving are indemand. For example, by saving the weight of a door trim (door lining)of an automobile as a foam-molded product, it is possible to enhance anenergy-saving effect. Further, by using the interior of a part as afoam-molded product, a soundproof effect is also improved and, atlocations where the part was assembled as a set with conventionalsoundproofing materials, it is possible to reduce the number of partsand enhance an economic effect as well. There have been proposed severalprior arts to meet such demands.

Patent Document 1 proposes a technique for performing a core-backmolding while controlling an expansion rate of a foamed resin so that amold internal pressure does not become negative on the basis of a moldinternal pressure sensor. Specifically, Patent Document 1 proposes aninjection foam molding machine and an injection foam molding methodcapable of making a plate thickness of a foam-molded product uniform bymoving a movable mold plate in parallel when the mold is slightly opened(core-back operation) by the injection foam molding machine. Thistechnique is a technique that controls the opening speed so that themold internal pressure detected by the mold internal pressure sensordoes not become negative when a molten resin is injected and filled intoa mold cavity and the mold is slightly opened to cause foaming, and usesa plurality of ball screw type jacks to slightly open the mold duringfoaming to synchronously control a servo motor that drives the jacks.

Patent Document 2 proposes a technique for controlling the dimensions ofa foam body by a mold internal pressure sensor. Specifically, PatentDocument 2 proposes a manufacturing method whereby dimension control iseasy and a foam body having desired dimensions can be stably obtained,and a manufacturing device whereby dimension control can be easilyperformed and a foam body having desired dimensions can be more stablyobtained. In this technique, given P2 as a pressure at the moment that ashrinkable molding material not containing a foaming agent is injectedinto a mold and a pressure inside the mold begins to decrease and ΔP2 asa decrease amount of the pressure inside the mold from P2 and, on theother hand, P3 as a minimum pressure from the moment that a shrinkablemolding material containing a foaming agent is completely injected intothe mold until the pressure inside the mold begins to increase, and ΔP3as an increase amount of the pressure inside the mold from P3, a sum ΔP4of ΔP2 and ΔP3 is controlled on the basis of a correlation between adimensional change of the foam body obtained in advance and ΔP4 and thedimensions of the obtained foam body are adjusted to obtain a foam bodyhaving desired dimensions.

Patent Document 3 proposes a technique for detecting a foamed state witha pressure sensor and clamping a mold accordingly. Specifically, thetechnique is an injection compression molding method that solves theproblem that, when a porous molded product containing a large number offoamy gases is molded using a foamable resin, it is difficult todetermine the timing of mold clamping after resin injection, and is atechnique for injecting a foamable molten resin into a cavity of a moldbefore mold closing is complete, detecting a foamed state thereof, andclamping the mold, thereby compressing the foamable molten resin to molda molded product, or injecting a foamable molten resin into a cavity ofa mold before mold closing is complete and, after a preset time haselapsed, clamping the mold, thereby compressing the foamable moltenresin to mold a molded product.

PRIOR ART DOCUMENTS Patent Documents

-   Patent Document 1: Japanese Laid-Open Patent Application No.    2004-98582-   Patent Document 2: Japanese Laid-Open Patent Application No.    2002-1751-   Patent Document 3: Japanese Examined Patent Publication No.    H06-22835-   Patent Document 4: WO 2011/161899A1

SUMMARY OF THE INVENTION Problems to be Solved by the Invention

A so-called core-back foam molding technique has been adopted as amethod for manufacturing a foam-molded product. This method is a methodfor using a mold with a variable cavity capacity, keeping the capacityof the cavity small when filling the mold with the foamable moltenresin, and expanding the capacity of the cavity after the mold is filledto cause foaming. However, in the conventional core-back foam moldingtechnique, the foamed state of the molded product may become uneven, anda wall thickness of the molded product is likely to vary. Further,because an injection filling amount is managed by a stroke of a screw,the timing of closing a resin backflow preventing valve at a screw tipend may not always be constantly controlled, and thus the filling amountis not fixed and variance occurs in the foamed state.

Further, as a technique for solving the variation in the wall thicknessand the foamed state of the foam-molded product, the above-describedPatent Documents 1 to 3 propose a technique for monitoring the moldinternal pressure by a mold internal pressure sensor. However, the moldinternal pressure sensor is problematic in that the sensor is corrodedby gas generated during resin filling and, because the pressuredistribution is biased due to the shape and size of the product, it isdifficult to position the sensor and necessary to examine the sensorposition when designing the mold.

The present invention is made to solve the above-described problems, andan object of the present invention is to provide a new foam moldingmethod and injection molding machine capable of solving variation in awall thickness and a foamed state and solving a problem of sensorcorrosion, a problem of sensor positioning, and the like without use ofa mold internal pressure sensor as well.

Means for Solving the Problems

The present inventors found that the above-described problems can besolved by utilizing an injection pressure (also referred to as moldinginjection pressure) for performing a just-packing control inside amolding mold and a mold clamping force (also referred to as a moldingmold clamping force) at which an opening of a mold parting line (alsoreferred to as P/L surface) appears when injection molding is performedat the molding injection pressure, further utilizing a gap sensor formonitoring a parting opening amount of the mold, and utilizinginformation from the gap sensor, and accomplished the present invention.

-   -   (1) A foam molding method according to the present invention is        a foam molding method for performing molding by filling a mold        composed of a fixed mold and a movable mold, clamped by a        predetermined mold clamping force (molding mold clamping force),        with a resin containing a foaming agent at a predetermined        injection pressure (molding injection pressure), and the foam        molding method comprises:        -   a resin filling step of filling the mold, clamped by the            predetermined mold clamping force, with the resin at the            predetermined injection pressure,        -   a filling stopping step of stopping the filling when, while            monitoring a mold gap of the mold during the filling, a            predetermined mold gap value set in advance is reached,        -   a surface layer curing and filled resin cooling step of            curing a surface layer of the resin for a certain time, and            cooling the filled resin for a certain time after the            filling is stopped,        -   a volume controlling step of controlling a volume increase            by reducing the mold clamping force after curing the surface            layer of the resin for a certain time, and        -   a taking out step of taking out a foam-molded product by            opening the mold after the volume controlling step is            performed and after of cooling the filled resin for a            certain time.

According to this invention, (a) the mold clamped by a predeterminedmold clamping force (molding mold clamping force) is filled at apredetermined injection pressure (molding injection pressure) forperforming a just-packing control inside the mold with the resin, makingit possible to control the filling amount of the resin by the injectionpressure and realize stable resin filling. Further, it is not necessaryto manage the injection filling amount by a stroke of a screw, making itpossible to make the resin amount filled in the mold constant withoutbeing influenced by injection position control or the operation of thebackflow preventing valve. (b) The filling of the resin into the moldclamped by the predetermined mold clamping force (molding mold clampingforce) stops when the mold gap of the mold reaches the predeterminedmold gap value, making it possible to adopt, as the sensor used for thestop operation, a gap sensor provided outside the cavity instead of amold internal pressure sensor provided inside the cavity such as in therelated art. (c) The mold gap can be monitored by the mold gap sensor,and the mold gap sensor can be attached as desired to a mold outersurface not affected by the generated gas. In a case where the shape andthe size of the product differ, distortion and deviation may occur inthe molding mold. However, even in that case, it is possible to providethe mold gap sensor to the mold outer surface not affected by the moldedproduct ultimately obtained, and thus perform accurate measurement bythe mold gap sensor even when distortion and deviation occur. It shouldbe noted that the timing of stopping the resin filling can be displayedon the surveillance monitor for monitoring the measured mold gap data,and the stop timing can be input by using the surveillance monitor as amonitoring position setting device. (d) After the filling is stopped,the cooling starts to cure the surface layer and cool the filled resin.However, the mold clamping force is reduced after curing the surfacelayer for a certain time to control the volume increase, and thus afoam-molded product including a cured surface layer can be obtained. (e)After the volume controlling step is performed and after cooling thefilled resin for a certain time, the mold is opened and a foam-moldedproduct is taken out, and thus a foam-molded product in a homogeneousfoamed state can be obtained.

In the foam molding method according to the present invention, one ortwo or more data selected from the mold clamping force, the injectionpressure, the mold gap, the mold gap value, a curing time of the surfacelayer, a cooling time of the filled resin, and the mold clamping forceor the mold gap value or a mold gap enlargement speed for the volumeincrease are displayed or displayed and set on a display panel. In thisway, it is easier to display the data or to display and set the data onthe display panel, and a workability and a manageability can beimproved.

In the foam molding method according to the present invention, astarting point of calculation for starting a surface layer curing timeand a resin cooling time in the surface layer curing and filled resincooling step is set to, when data of the mold gap and elapsed time aregraphed, the moment that the mold gap reaches the predetermined mold gapvalue. In this way, it is possible to control the starting point ofcalculation for starting the surface layer curing, and start the volumecontrol when the surface layer curing time set in advance is reached. Asa result, it is possible to obtain a foam-molded product in which thesurface layer is appropriately cured. Further, it is possible to controlthe starting point of calculation for starting the resin cooling bymonitoring the mold gap, and take out the molded product when thecooling time set in advance elapses. As a result, it is possible toobtain a foam-molded product in a homogeneous foamed state.

In the foam molding method according to the present invention, controlof the volume increase in the volume controlling step is performed byusing one or two or more forces selected from the predetermined moldclamping force applied to the mold, a mold opening force by an internalpressure based on foaming of the resin, a mold opening force by a springprovided to the mold, and a mechanical mold opening force by a moldclamping cylinder, and reducing the mold clamping force to enlarge themold gap to a predetermined value. In this way, the volume increase canbe controlled while monitoring the enlargement of the mold gap to thepredetermined mold gap value. The enlargement of the mold gap can be setby monitoring the mold gap data with the mold gap sensor.

The foam molding method according to the present invention furthercomprises a condition setting step of setting in advance one or two ormore data selected from the mold clamping force, the injection pressure,the mold gap, the mold gap value, a curing time of the surface layer, acooling time of the filled resin, and the mold clamping force or themold gap value or a mold gap enlargement speed for the volume increase,and setting a predetermined value from the set data. In this way, apredetermined value is set from data set in advance, and thus byapplying the set value in each step at the time of manufacture, it ispossible to manufacture a stable foam-molded product.

-   -   (2) An injection molding machine according to the present        invention comprises:        -   a mold clamping device provided with a mold composed of a            fixed mold and a movable mold clamped by a predetermined            mold clamping force (molding mold clamping force),        -   an injection device that fills the mold provided to the mold            clamping device with a resin containing a foaming agent at a            predetermined injection pressure (molding injection            pressure), and        -   a control device that controls an operation of the mold            clamping device and the injection device.

The control device performs resin filling control of filling the moldclamped by the predetermined mold clamping force with the resin at thepredetermined injection pressure by the injection device, fillingstopping control of stopping the filling when, while monitoring a moldgap of the mold during the filling, a predetermined mold gap value setin advance is reached, surface layer curing and filled resin coolingcontrol of curing a surface layer of the resin for a certain time andcooling the filled resin for a certain time after the filling isstopped, volume control of controlling a volume increase by reducing themold clamping force after curing the surface layer of the resin for acertain time, and taking out control of taking out a foam-molded productby opening the mold after the volume control is performed and aftercooling the filled resin for a certain time.

The injection molding machine according to the present invention furthercomprises a display panel that displays or displays and sets one or twoor more data selected from the mold clamping force, the injectionpressure, the mold gap, the mold gap value, a curing time of the surfacelayer, a cooling time of the filled resin, and the mold clamping forceor the mold gap value or a mold gap enlargement speed for the volumeincrease.

In the injection molding machine according to the present invention, thecontrol device sets a starting point of calculation for starting asurface layer curing time and a resin cooling time in the surface layercuring and filled resin cooling control to, when data of the mold gapand elapsed time are graphed, the moment that the mold gap reaches thepredetermined mold gap value.

In the injection molding machine according to the present invention, thecontrol device controls the volume increase in the volume control byusing one or two or more forces selected from the predetermined moldclamping force applied to the mold, a mold opening force by an internalpressure based on foaming of the resin, a mold opening force by a springprovided to the mold, and a mechanical mold opening force by a moldclamping cylinder, and reducing the mold clamping force to enlarge themold gap to a predetermined value.

Effect of the Invention

According to the present invention, it is possible to provide a new foammolding method and injection molding machine capable of solvingvariation in a wall thickness and a foamed state of a product, and thelike, and solving a problem of sensor corrosion and a problem of sensorpositioning without use of a mold internal pressure sensor as well.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is an external configuration view illustrating an example of aninjection molding machine.

FIGS. 2A to 2D are explanatory views of a mold gap of a mold in eachstep, FIG. 2A being the mold gap before injection filling, FIG. 2B beingthe mold gap when the mold is filled (during just-packing) with a resinat a predetermined molding injection pressure Pi, FIG. 2C being the moldgap when a surface layer of the resin is cured for a certain time(surface curing point), and FIG. 2D being the mold gap when a volumeincrease is controlled (during core-back operation) by reducing amolding mold clamping force Pc to a mold clamping force Pc′.

FIG. 3 is a graph showing a relationship between time and the mold gapof the mold measured in each step.

FIG. 4 is an explanatory view of a process flow of a foam moldingmethod.

FIG. 5 is an explanatory view of a process flow for setting foam moldingconditions in advance.

FIG. 6 is an example of a structural view of the injection moldingmachine.

FIG. 7 is an example of a structural view of a control device.

EMBODIMENTS OF THE INVENTION

The following describes a foam molding method and an injection moldingmachine according to the present invention with reference to thedrawings. It should be noted that the present invention is not limitedto the following embodiments and various modifications and applicationswithin the scope of the gist are also included.

A foam molding method according to the present invention is a foammolding method for performing molding by filling a mold 2 composed of afixed mold 2 c and a movable mold 2 m clamped by a predetermined moldclamping force (molding mold clamping force Pc; hereinafter the same)with a resin R containing a foaming agent at a predetermined injectionpressure (molding injection pressure Pi; hereinafter the same). Then,the present invention is characterized by including a resin filling stepof filling the mold 2, clamped by the molding mold clamping force Pc(predetermined mold clamping force) with the resin R by the moldinginjection pressure Pi (predetermined injection pressure), a fillingstopping step of stopping the filling of the resin R when, whilemonitoring a mold gap Lm of the mold 2 during the filling, apredetermined mold gap value set in advance is reached, a surface layercuring and filled resin cooling step of curing a surface layer of theresin R for a certain time and cooling the filled resin R for a certaintime after the filling of the resin R is stopped, a volume controllingstep of controlling a volume increase by reducing the mold clampingforce after curing the surface layer of the resin R for a certain time,and a taking out step of taking out a foam-molded product by opening themold 2 after the volume controlling step is performed and after coolingthe filled resin R for a certain time. Further, an injection moldingmachine 10 according to the present invention is characterized byincluding a mold clamping device 13, an injection device 12, and acontrol device 51 for implementing this foam molding method.

The present inventors found that the conventional problems can be solvedby utilizing the molding injection pressure Pi for performing ajust-packing control inside the mold 2 and the molding mold clampingforce Pc at which an opening of a mold parting line (also referred to asP/L surface) appears when injection molding is performed at the moldinginjection pressure Pi, further utilizing a gap sensor 9 for monitoring aparting opening amount of the mold 2, and utilizing information from thegap sensor 9, and accomplished this foam molding method.

That is, in this foam molding method, (a) the mold 2 clamped by themolding mold clamping force Pc (predetermined mold clamping force) isfilled at the molding injection pressure Pi (predetermined injectionpressure) for performing a just-packing control inside the mold with theresin R, making it possible to control a filling amount of the resin Rby the injection pressure and realize stable resin filling. Further, itis not necessary to manage the injection filling amount by a stroke of ascrew 16, making it possible to make the resin amount filled in the mold2 constant without being influenced by injection position control or theoperation of the backflow preventing valve. (b) The filling of the resininto the mold 2 clamped by the molding mold clamping force Pc stops whenthe mold gap Lm of the mold 2 reaches a predetermined mold gap value,making it possible to adopt, as the sensor used for the stop operation,the gap sensor 9 provided outside the cavity instead of a mold internalpressure sensor provided inside the cavity such as in the related art.(c) The mold gap Lm can be monitored by the mold gap sensor 9, and themold gap sensor 9 can be attached as desired to a mold outer surface notaffected by the generated gas. In a case where the shape and the size ofthe product differ, distortion and deviation may occur in the moldingmold. However, even in that case, it is possible to provide the mold gapsensor 9 to the mold outer surface not affected by the molded productultimately obtained, and thus perform accurate measurement by the moldgap sensor 9 even when distortion and deviation occur. It should benoted that the timing of stopping the resin filling can be displayed ona surveillance monitor 8 for monitoring measured mold gap data, and thestop timing can be input by using the surveillance monitor 8 as amonitoring position setting device. (d) After the filling is stopped,the cooling starts to cure the surface layer and cool the filled resinR. However, the mold clamping force is reduced after curing the surfacelayer for a certain time to control the volume increase, and thus afoam-molded product including a cured surface layer can be obtained. (e)After the volume controlling step is performed and after cooling thefilled resin R for a certain time, the mold 2 is opened and afoam-molded product is taken out, and thus a foam-molded product in ahomogeneous foamed state can be obtained.

(Differences from Prior Art of Present Applicant)

The foam molding method according to the present invention is aninvention that solves the problems specific to foam molding on the basisof prior art developed by the present applicant (refer to PatentDocument 4). First, a general molding method will be described. In ageneral molding method, a high-pressure mold clamping force is appliedto the mold 2 to clamp the mold, and subsequently injection molding isperformed. In this case, a mold clamping condition (mold clamping force)is set as a fixed condition, and an injection condition (injectionpressure) under that mold clamping force is set. However, with regard tothe resin R filled into the mold 2, even in a case where the injectionpressure is precisely set, when a temperature of the mold 2 or the moldclamping device 13 fluctuates, the quality and homogeneity of the moldedproduct are affected. Further, the main conditions at the time ofmolding, including injection conditions such as injection speed, speedswitching position, speed pressure switching position, injectionpressure, and holding pressure, accurate resin measurement conditions,and the like are set by the injection device 12, and thus there is alimit in the control by the injection device 12 whereby accurate resinmeasurements and the like are difficult. Moreover, because a series ofcontrols such as multistage control and holding pressure control for theinjection speed are usually performed, a molding cycle time is long, andthere is a limit to the shortening of the molding cycle time and massproductivity.

The prior art (refer to Patent Document 4) developed by the presentapplicant solves the problem in the conventional molding methoddescribed above, and is a method for performing molding by filling themold 2 (fixed mold 2 c and movable mold 2 m) clamped by a predeterminedmold clamping force (molding mold clamping force Pc) with the resin R atthe predetermined injection pressure (molding injection pressure Pi). Asthe mold clamping device 13, a mold clamping device capable ofcompressing (naturally compressing) the resin as the resin R in the mold2 solidifies is used. The molding injection pressure Pi and the moldingmold clamping force Pc whereby, using this mold molding device 13, thepredetermined mold gap Lm occurs between the movable mold 2 m and thefixed mold 2 c during injection filling and a quality product can bemolded are found as conditions established in advance. On the basis ofthe conditions (molding injection pressure Pi and molding mold clampingforce Pc) thus found, the mold is clamped by the molding mold clampingforce Pc at the time of production, the resin R is injected by settingthe molding injection pressure Pi to the limit pressure and, after thepredetermined cooling time elapses, the molded product is taken out.

When an attempt is made to apply this technique to foam molding, themolding injection pressure Pi and the molding mold clamping force Pc aresubstantially the same as those in the prior art. Specifically, themolding injection pressure Pi for performing a just-packing controlinside the mold 2 and the molding mold clamping force Pc at which theopening of the P/L surface appears when injection molding is performedat the molding injection pressure Pi are utilized. Thereby, it ispossible to perform a just-packing control inside the mold 2 with theresin R containing a foaming agent, control the filling amount of theresin R by the injection pressure, and realize stable resin filling. Onthe other hand, in foam molding, volume control means called core backof expanding a capacity of the cavity after the mold is filled to causefoaming is adopted. However, the present invention is characterized inthat, when core back specific to foam molding is performed uponutilizing the molding injection pressure Pi and the molding moldclamping force Pc, the core back is performed after the surface layer iscured for a certain time, using the time at which the predetermined moldgap value is reached as the starting point (starting point ofcalculation) of the surface layer curing. Furthermore, the presentinvention is characterized in that the volume increase is controlled byreducing the mold clamping force after curing the surface layer for acertain time. With adoption of such characteristic means, it is possibleto cause a melted portion on a center side to foam with the surface ofthe resin R cured, and thus perform molding in a quality, homogeneousfoamed state.

The following describes each component.

[Injection Molding Machine]

The injection molding machine 10 is a device that performs molding byfilling the mold 2 clamped by the molding mold clamping force Pc withthe resin R containing a foaming agent at the molding injection pressurePi, and implements the foam molding method according to the presentinvention. In the example in FIG. 1 , the mold clamping device 13, theinjection device 12, and the control device 51 are provided on a machinebase 11. A cover 20, a safety door 29, and a cover 30 are provided to adriving part of the injection device 12 and the mold clamping device 13.Although the example in FIG. 1 is a horizontal type of injection moldingmachine 10, the machine may be a vertical type of injection moldingmachine and is not particularly limited. Further, the drive system isalso not limited, and may be an electric drive or a hydraulic drive. Itshould be noted that, although a display device 14 is usually attachedto the injection molding machine 10, the device may be provided in awork place away from the injection molding machine 10.

(Mold Clamping Device)

The mold clamping device 13 is a device that performs mold clamping andmold opening/closing, includes the mold 2 composed of the fixed mold 2 cand the movable mold 2 m as illustrated in FIG. 1 and FIG. 6 , and canclamp the mold 2 by the molding mold clamping force Pc. The mold 2clamped by the molding mold clamping force Pc is filled with the resin Rcontaining a foaming agent (also referred to as the resin R) at themolding injection pressure Pi by the injection device 12. The resin R isfilled by injection from a tip end nozzle of a heating cylinder 17provided to the injection device 12. In this mold clamping device 13,after the filled resin R is foamed, the mold 2 is opened and thefoam-molded product is taken out by an ejection cylinder 34 and thelike.

(Injection Device)

As illustrated in FIG. 1 and FIG. 6 , the injection device 12 is adevice that fills the mold 2 clamped by the molding mold clamping forcePc with the resin R containing a foaming agent at the molding injectionpressure Pi. The injection device 12 is mainly configured by the heatingcylinder 17 that plasticizes the resin R, a hopper 18 that stores theresin R supplied to the heating cylinder 17, and an injection cylinder19. The screw 16 is provided to the interior of the heating cylinder 17.The resin R supplied from the hopper 18 to the interior of the heatingcylinder 17 is heated by a heater (not illustrated) wrapped around theouter periphery, measured while being plasticized, fed to the tip endside by a rotation operation of the screw 16, and injected from the tipend nozzle to advance the screw 16. In the injection cylinder 19, ahydraulic drive device or an electric drive device is used as a drivepower source. Although the mechanical measurement of the resin by thisinjection device 12 is performed with the same accuracy as in therelated art, in the present invention, the filling amount is controlledby the molding injection pressure Pi for performing a just-packingcontrol inside the mold 2 with the resin R containing a foaming agent.As a result, stable resin filling can be realized compared to theconventional mechanical measurement.

(Control Device)

The control device 51 is a device that controls the operation of themold clamping device 13 and the injection device 12. This control device51 performs resin filling control of filling the mold 2, clamped by themolding mold clamping force Pc, with the resin R at the moldinginjection pressure Pi, filling stopping control of stopping the fillingwhen, while monitoring the mold gap Lm of the mold 2 during the filling,a predetermined mold gap value set in advance is reached, surface layercuring and filled resin cooling control of curing the surface layer ofthe resin R for a certain time and cooling the filled resin R for acertain time after the filling is stopped, volume control of controllingthe volume increase by reducing the molding mold clamping force Pc tothe mold clamping force Pc′ after curing the surface layer of the resinR for a certain time, and taking out control of taking out thefoam-molded product by opening the mold 2 after the volume control isperformed and after cooling the filled resin R for a certain time.

(Foam Molding Method)

The foam molding method according to the present invention is a methodperformed by controlling the operation of the mold clamping device 13and the injection device 12 described above, and includes a resinfilling step of performing the resin filling control, a filling stoppingstep of performing the filling stopping control, a surface layer curingand filled resin cooling step of performing the surface layer curing andfilled resin cooling control, a volume controlling step of performingthe volume control, and a foam-molded product taking out step ofperforming the taking out control of the foam-molded product describedabove. Each of these steps will be described below in order togetherwith explanations of each of the controls of the above-describedinjection molding machine 10 as well.

First, each step of the foam molding method at the time of productionwill be described with reference to FIG. 4 , and subsequently each stepwhen setting the conditions in advance will be described with referenceto FIG. 5 . It should be noted that FIGS. 2A to 2D are explanatory viewsof the mold gap of the mold in each step, FIG. 2A being the mold gapbefore the starting of injection, FIG. 2B being the mold gap after themold is filled with the resin at the predetermined molding injectionpressure Pi, FIG. 2C being the mold gap after the surface layer of theresin is cured for a certain time, and FIG. 2D being the mold gap whenthe volume increase is controlled by reducing the molding mold clampingforce Pc to the mold clamping force Pc′. Further, FIG. 3 is a graphshowing a relationship between time and the mold gap of the moldmeasured in each step, where symbol A is the resin filling time frombefore injection filling to a just-packing time, symbol B is the surfacelayer curing time from the just-packing time to a surface layer curingstop time, symbol C is the cooling time from the just-packing time to acooling stop time, and symbol D is a core-back time for opening the moldgap and causing foaming from a surface curing stop point to the stoppingof core back.

(Resin Filling Step)

The resin filling step is a step of filling the mold 2 clamped by themolding mold clamping force Pc with the resin R containing a foamingagent at the molding injection pressure Pi. This resin filling step isrepresented by steps 21 to 23 in FIG. 4 . The conditions of the moldingmold clamping force Pc and the molding injection pressure Pi are set inadvance in the condition establishing flow illustrated in FIG. 5 .

First, the resin R containing a foaming agent (hereinafter referred toas the “resin R”) is plasticized (step 21). The resin R is plasticizedby heating the heating cylinder 17 constituting the injection device 12and rotating the screw 16. It should be noted that the resin R and thefoaming agent to be contained are selected as desired in accordance withthe intended foam-molded product, and various conditions described laterare optimized in accordance with the material. Simultaneously with orbefore or after this step 21, the mold 2 to be filled with theplasticized resin R is clamped by the molding mold clamping force Pc(step 22). The mold clamping by the molding mold clamping force Pc isperformed by a mold clamping mechanism provided to the mold clampingdevice 13.

Before the injection filling step illustrated in FIG. 2A, mold splittingsurfaces (P/L surfaces) of a mold parting line (P/L) between the movablemold 2 m and the fixed mold 2 c are brought into contact so that thereis no gap (Lm=0) as illustrated in FIG. 2A.

It should be noted that, as the mold clamping device 13, for example, asillustrated in FIG. 6 , a direct-pressure type hydraulic mold clampingdevice that displaces the movable mold 2 m by a driving piston 4 of amold clamping cylinder (hydraulic cylinder) 35 is preferably used. Byusing the hydraulic mold clamping device, it is possible to displace themovable mold 2 m and generate the necessary mold gap Lm by the moldinginjection pressure Pi. As illustrated in FIG. 6 , the mold clampingdevice 13 includes a fixed board 31 and the mold clamping cylinder 35disposed apart from each other, and a movable board 33 slidably loadedto a plurality of tie bars 32 installed between the fixed board 31 andthe mold clamping cylinder 35. The movable board 33 fixes the tip end ofa piston rod 4 r protruding forward from the driving piston 4 of themold clamping cylinder 35. The fixed mold 2 c is attached to the fixedboard 31, and the movable mold 2 m is attached to the movable board 33.The mold 2 composed of the fixed mold 2 c and the movable mold 2 m isopened/closed and clamped by the mold clamping cylinder 35. Referencenumeral 34 denotes an ejection cylinder that ejects (takes out) themolded product adhered to the movable mold 2 m when the mold 2 isopened. It should be noted that the description of a hydraulic circuitfor controlling the mold clamping cylinder 35, the injection cylinder19, and the like is the same as that of known techniques, and thus isomitted here.

Next, the plasticized resin R is injected and filled into the clampedmold 2 at the molding injection pressure Pi (step 23). The injection atthe molding injection pressure Pi is performed on the basis of set dataset in advance in the condition establishing flow illustrated in FIG. 5, and is performed while detecting the pressure using the pressuresensor provided to the injection device 12. When the resin R is injectedand filled, the pressure inside the mold rises, and the mold gap Lm ofthe mold 2 clamped by the molding mold clamping force Pc enlargesagainst the molding mold clamping force Pc as shown in FIG. 2B and FIG.3 (step 24). The enlargement of this mold gap Lm, as shown in FIG. 3 ,is graphed with the surveillance monitor and the state can beidentified.

The graph of FIG. 3 shows an example of the relationship between themold gap Lm of the mold 2 and the elapsed time. In the example in FIG. 3, the injection starts at the point where the elapsed time is 0 seconds,and the mold gap Lm starts to enlarge against the molding mold clampingforce Pc at approximately 0.8 seconds. In the example in FIG. 3 , thepredetermined mold gap Lm, corresponding to the molding injectionpressure Pi, is reached at the time of approximately 1.2 seconds. Thetime from starting the resin filling to reaching the predetermined moldgap Lm is a “resin filling time A.” Such a molding mold clamping forcePc and molding injection pressure Pi are set in advance on the basis ofa type of the resin R, a size of the molded product, a size of the mold2 corresponding thereto, an injection amount, an injection pressure, amolding time, a wall thickness of the product, and the like by thecondition setting step illustrated in FIG. 5 . As exemplified in FIG. 3, in a case where mold clamping is performed by the same molding moldclamping force Pc, the predetermined mold gap Lm corresponding to themolding injection pressure Pi becomes somewhat larger by filling at anincreased injection pressure, and becomes somewhat smaller by filling ata decreased injection pressure. The conditions of such a molding moldclamping force Pc and molding injection pressure Pi are respectively setby optimizing the injection pressure against the mold clamping forcecorresponding to the predetermined mold gap Lm on the assumption that afavorable resin-filled state will be achieved. As a result, it ispossible to control the filling amount of the resin R by the injectionpressure, and stably realize a favorable resin-filled state. Further, itis not necessary to manage the injection filling amount by a stroke ofthe screw 16, making it possible to make the resin amount filled in themold 2 constant without being influenced by injection position controlor the operation of the backflow preventing valve.

The mold gap Lm can be monitored by the mold gap sensor 9. Unlike theconventional mold internal pressure sensor, the mold gap sensor 9, asillustrated in FIGS. 2A to 2D, can be attached not inside the cavitysuch as in the related art, but to a desired position on the mold outersurface not affected by the generated gas. As a result, the problem ofcorrosion such as in the related art can be prevented. Furthermore, in acase where the shape and the size of the molded product differ,distortion and deviation may occur in the molding mold. However, even inthat case, it is possible to provide the mold gap sensor 9 to the moldouter surface not affected by the molded product ultimately obtained,and thus perform accurate measurement by the mold gap sensor 9 even whendistortion and deviation occur.

The mold gap sensor 9 is not particularly limited, but a commonly usedhigh-accurate distance measuring sensor or the like can be adopted.Specifically, as illustrated in FIGS. 2A to 2D, the mold gap Lm can bemeasured by attaching a sensor element 9 a composed of a distancemeasuring sensor, and a plate 9 b to the outer surface of the mold 2,and measuring from the sensor element 9 a to the plate 9 b. It should benoted that the measurement data of the mold gap Lm is displayed as agraph with the surveillance monitor 8 having the form shown in FIG. 3 .At the moment that the set mold gap value is reached on the basis of thedisplayed graph or measurement data, for example, subsequent control canbe performed. For example, the stopping of the filling, the starting ofsurface layer curing, the starting of cooling, the control of moldopening (the starting and stopping of core back), and the like describedlater can be performed. Further, for example, the timing of the startingof the subsequent control may be controlled by the extent to which theset mold gap value is approached. Such control is not particularlylimited as long as it is performed on the basis of the displayed graphor measurement data.

(Filling Stopping Step)

The filling stopping step is a step of stopping the filling when, whilemonitoring the mold gap Lm of the mold 2 during the filling, thepredetermined mold gap value set in advance is reached. The resinfilling time A in FIG. 3 is the time from starting the resin filling toreaching the predetermined mold gap Lm. This filling stopping step isrepresented by step 24 in FIG. 4 . The starting of the subsequentcontrol when the predetermined mold gap value is reached or approachedis as described in the preceding paragraph.

Step 24 is a step of stopping the resin filling when, upon increasingthe pressure inside the mold by the injection filling of the resin R instep 23, the mold gap Lm of the mold 2 clamped by the molding moldclamping force Pc reaches the predetermined mold gap value against themolding mold clamping force Pc. The resin filling stops at the momentthat the predetermined mold gap value is reached. It should be notedthat a specific filling stop operation can be performed by a closingoperation of a valve pin provided to the injection device 12, or thelike. By displaying the timing at which the resin filling stops on thesurveillance monitor 8 for monitoring the measured mold gap data, andusing the surveillance monitor 8 as a monitoring position settingdevice, it is also possible to set the stop timing as desired andexecute the stopping.

According to this step, the filling of the resin into the mold 2 clampedby the molding mold clamping force Pc stops when the mold gap Lm of themold 2 reaches the predetermined mold gap value, making it possible toadopt, as the sensor used for the stop operation, the gap sensor 9provided outside the cavity instead of a mold internal pressure sensorprovided inside the cavity such as in the related art. As a result,corrosion by the generated gas during resin filling does not occur.

(Surface Layer Curing and Filled Resin Cooling Step)

The surface layer curing and filled resin cooling step is a step ofcuring the surface layer of the resin R for a certain time and coolingthe filled resin for a certain time simultaneously or continuously withthe stopping of the filling in step 24. The surface layer curing stepand the filled resin cooling step start simultaneously or continuouslywith the stopping of the filling, and thus are represented by the samestep 24 as the filling stopping step.

In step 24, as shown in the graph of the relationship between the moldgap data and the elapsed time in FIG. 3 , is a step of setting thestarting point of calculation for starting the surface layer curing timeB and the resin cooling time C to the moment that the resin fillingstops and the mold gap reaches the predetermined mold gap value. Thisstarting point of calculation of the surface layer curing coincides withthe time when the filling stops. That is, the surface layer curingstarts at the moment that the resin filling stops. The time of startingthe surface layer curing (surface layer curing time B) is the momentthat the resin filling stops. It should be noted that it is alsopossible to perform control by monitoring the mold gap value instead ofa timer count. In this way, the starting point of calculation forstarting the surface layer curing can be controlled, and the volumecontrol starts when the surface layer curing time (or mold gap value)set in advance is reached. As a result, it is possible to obtain afoam-molded product in which the surface layer is appropriately cured.

The “certain time (surface layer curing time B)” is set in advance onthe basis of the type of the resin R, the size and the shape of themolded product, the size and the shape of the mold 2 correspondingthereto, the resin amount, the wall thickness of the product, and thelike by the condition setting step described later in FIG. 5 . In theexample in FIG. 3 , the surface layer curing starts at the same time asthe filling stops at approximately 1.2 seconds, which is the moment thatthe predetermined mold gap value is reached, and the time of theapproximately 1.6 seconds up to the approximately 2.8 seconds is set asthe surface layer curing time B serving as the predetermined “certaintime.” It should be noted that, in this surface layer curing step, theresin cooling is also performed at the same time, and thus the gap Lmbecomes gradually smaller due to natural shrinkage of the resin, asillustrated in the FIG. 2C and the graph of FIG. 3 . When the filling ofthe heated resin stops, the resin cooling starts, and a temperature ofthe surface layer of the filled resin decreases for the first time tocure the surface layer. With the surface layer curing for a certain time(surface layer curing time B), the surface of the molded product becomesa dense, thin, flat resin layer, and a foam-molded product with a fineappearance can be obtained. Although the length of the certain time iscontrolled by time, the length may be controlled by the mold gap Lm thatnaturally shrinks. In a case of control by time, the length can be setby a timer count and, in a case of control by the mold gap Lm, thelength can be set by data measured with the mold gap sensor 9. With thecondition of the length of a certain time or the mold gap Lm set inadvance, it is possible to increase or decrease the thickness of thedense surface layer, and manufacture a foam-molded product correspondingto demands.

It should be noted that the step of starting the cooling of the filledresin R is also step 24. On the other hand, the step 27 of stopping thecooling is a step that continues until after the volume controlling step(core-back step) of the steps 25 and 26 below, and is a step of coolingthe filled resin R until a foam-molded product is obtained. The startingpoint of calculation for starting the cooling is the same as thestarting point of calculation for starting the surface layer curing.

(Volume Controlling Step)

The volume controlling step is a step of controlling the volume increaseby reducing the molding mold clamping force Pc to the mold clampingforce Pc′ after curing the surface layer of the resin R for a certaintime (surface layer curing time B). In FIG. 4 , this volume controllingstep is configured by the starting of core back (step 25) performedsimultaneously or continuously with the stopping of the surface layercuring, and the stopping of core back (step 26). As illustrated in FIG.2D, volume increase is controlled by reducing the molding mold clampingforce Pc to the mold clamping force Pc′ to enlarge the mold gap Lm to apredetermined value. The enlargement of the mold gap Lm by reducing themold clamping force can be performed by monitoring the mold gap data ofthe mold gap sensor 9. The enlargement speed of the mold gap Lm (alsoreferred to as the mold gap enlargement speed) can be performed bycontrolling a reduction speed of the mold clamping force, or the like.

The volume increase is controlled by one or two or more forces selectedfrom the predetermined mold clamping force applied to the mold 2, a moldopening force by an internal pressure based on foaming of the resin R, amold opening force by a spring provided to the mold 2, and a mechanicalmold opening force by the mold clamping cylinder 35. With this control,the molding mold clamping force Pc reduces to the mold clamping forcePc′ to enlarge the mold gap Lm to a predetermined value. The enlargementof the mold gap Lm can be controlled while monitoring the mold gap Lmreaching a predetermined mold gap value. The mold opening force by theinternal pressure based on the foaming of the resin R, the mold openingforce by the spring provided to the mold 2, and the mechanical moldopening force by the mold clamping cylinder 35 are each a counter forceagainst a predetermined mold clamping force applied to the mold 2. Theseforces are balanced to enlarge the mold gap Lm to a predetermined value.While an internal pressure based on the foaming of the resin R alwaysexists, the mold opening force due to the internal pressure alone cannotwithstand the predetermined mold clamping force applied to the mold 2.Accordingly, control is performed by utilizing one or both of the moldopening force by the spring provided to the mold 2 and the mechanicalmold opening force by the mold clamping cylinder 35.

The size of the mold gap Lm affects the degree of foaming and thestrength of the foam-molded product, and thus the degree of enlargementof the mold gap Lm is set in consideration thereof. The set value is setby condition setting in advance described later.

(Foam-Molded Product Taking Out Step)

The foam-molded product taking out step is a step of taking out thefoam-molded product by opening the mold 2 after the volume control(steps 25 and 26) is performed and the cooling time C of the filledresin has elapsed (step 27). This taking out step is represented by step28 in FIG. 4 . The foam-molded product took out in this taking out stepis a foam-molded product in a homogeneous foamed state. It should benoted that, when the foam-molded product is taken out from the mold, isperformed by the opening of the mold and the operation of the ejectioncylinder 34. Such a mechanism, however, is the same as that of theconventional techniques, and thus an explanation thereof is omittedhere.

After the foam-molded product taking out step, manufacture is continuedor ended by step 29 of selecting whether manufacture is to be continuedor ended. The selection in this step 29 may be performed by setting inadvance before manufacture or may be performed each time. The settingperformed in advance may be corresponded to the resin amount added ormay be corresponded to the manufacture quantity.

(Other)

In the present invention, it is desirable to monitor the mold gap Lmwith the surveillance monitor 8. The surveillance monitor 8 includes adisplay panel that displays or displays and sets one or two or more dataselected from the mold clamping force, the injection pressure, the moldgap, the mold gap value, a curing time of the surface layer, a coolingtime of the filled resin, and the mold clamping force or the mold gapvalue or the mold gap enlargement speed for volume increase. With such asurveillance monitor 8, it is easier to display the data or to displayand set the data on the display panel, and a workability and amanageability of the monitoring can be improved. For example, the graphshown in FIG. 3 appears on the surveillance monitor 8 in real time whilebeing drawn as time elapses. As the “display panel,” the display device14 illustrated in FIG. 1 , or the like can be exemplified, and a settingdevice is included. It should be noted that the “mold gap enlargementspeed” is the speed at which the mold gap enlarges, and can becalculated from an inclination during the core-back operation in thegraph of FIG. 3 .

(Condition Setting)

The foam molding method according to the present invention includes acondition setting step of setting in advance one or two or more dataselected from the mold clamping force, the injection pressure, the moldgap, the mold gap value, the curing time of the surface layer, thecooling time of the filled resin, and the mold clamping force or themold gap value or the mold gap enlargement speed for volume increasedescribed above by the condition setting step in advance, and setting apredetermined value during manufacture from the set data. With thiscondition setting step, a predetermined value during manufacturing isset from data set in advance, and thus by applying the set value as thecondition of each step at the time of mass production, it is possible tomanufacture a stable foam-molded product.

FIG. 5 is an explanatory view of a process flow for setting foam moldingconditions in advance. First, the molding mold clamping force Pc and themolding injection pressure Pi are set to establish the condition ofwhether the resin-filled state before foaming is appropriate in steps 11to 14. Subsequently, the resin filling time A, the surface layer curingtime B, the cooling time C, the volume control time D, the extensionlength of the mold gap Lm, and the like are set in steps 15 to 18.

First, step 11 is a step of plasticizing the resin R containing afoaming agent. Step 12 is a step of optimizing the mold clamping forceset on the basis of the performance of the mold clamping device 13, andstep 13 is a step of optimizing the injection pressure set on the basisof the performance of the injection device 12. The mold clamping forceis optimized in accordance with the injection pressure, and theinjection pressure is also optimized in accordance with the moldclamping force, and thus each optimization is set in consideration ofwhether or not the predetermined mold gap Lm appears in the P/L surface(step 13) and whether or not the mold is uniformly and homogeneouslyfilled (just-packed) with the resin (step 14). That is, the mold gap Lmis adjusted by the mold clamping force and the injection pressure, andthe injection pressure (molding injection pressure Pi) for performing ajust-packing control inside the mold 2 and the mold clamping force(molding mold clamping force Pc) at which the opening (predeterminedmold gap Lm) of the P/L surface appears when injection molding isperformed at the molding injection pressure Pi are set. Step 11 to step14 are repeated until the molding mold clamping force Pc and the moldinginjection pressure Pi can be optimized.

Next, step 15 is a step of determining the extent of the mold gap valueby which, when reached by the mold gap Lm generated by the molding moldclamping force Pc and the molding injection pressure Pi obtained in step11 to step 14, the resin filling stops and the surface layer curing andthe resin cooling start. Because the mold gap value is determineddifferently depending on the shape and structure of the mold, the wallthickness of the product, and the like, whether to set a large mold gapLm or a small mold gap Lm as the mold gap value is determined.

Step 16 is a step of stopping the resin filling when the determined moldgap value is reached, and establishing the condition of the length ofthe surface layer curing time B after the resin filling is stopped. Step17 is a step of establishing the condition of the extent of the mold gapLm by which the mold clamping force is to be reduced to increase thevolume after the surface layer curing time B is reached. Step 18 is astep of establishing the condition of the length of the time whencooling is to be performed. Step 19 is a step of taking out the moldedfoam-molded product and confirming the molded state and the foamedstate. Each condition is set by such steps 15 to 19.

The set conditions are input as setting conditions in the manufacturingprocess illustrated in FIG. 4 , and thus the foam-molded product can bemanufactured.

Thus, the conditions of the molding injection pressure Pi for performinga just-packing control inside the mold 2 and the molding mold clampingforce Pc at which the opening (mold gap Lm) of the P/L surface appearswhen injection molding is performed at the molding injection pressure Piare set in advance. With mass production carried out under the obtainedconditions, it is possible to perform a just-packing control inside themold 2 with the resin R containing a foaming agent, control the fillingamount of the resin R by the injection pressure, and realize stableresin filling. On the other hand, in foam molding, the capacity of thecavity after the mold is filled is expanded to cause foaming, and thusthe condition is set in advance that, upon utilizing the moldinginjection pressure Pi and the molding mold clamping force Pc, core backis performed after the surface layer is cured for a certain time, byusing the time at which the predetermined mold gap value is reached asthe starting point of the surface layer curing. With such previoussettings, it is possible to mass-produce foam-molded products having aquality, homogeneous foamed state.

According to such a present invention, 1) control is performed with afocus on pressure, and thus the variation in the filling amount can beeliminated by monitoring the opening (mold gap Lm) of the P/L surface bythe filling pressure. As a result, it is possible to stabilize thedimensions and mass of the product compared to conventional techniques.Further, it is possible to eliminate the variation in an extrusionamount (filling amount) that readily occurs with an in-line screw typemolding machine. 2) Furthermore, because the just-pack point can beeasily controlled while monitoring the graph with the surveillancemonitor 8, the burden on a molding technician is reduced and the yieldis increased. 3) The timing of curing the surface of the foamed productis determined by the graph displayed on the surveillance monitor 8. 4)The mold gap sensor 9 is provided on the outer surface of the mold, andthus corrosion due to generated gas does not occur, and failure orreplacement of the sensor, or the like based on such corrosion does notoccur. This mold gap sensor 9 has the advantage that the sensor can beattached at a desired position at a later point in time, and furtherthere is no concern about temperature drift specific to the sensor aswell.

(Example of Control Device)

FIG. 7 is a configuration view illustrating an example of the controldevice 51. The control device 51 is a molding machine controller, and isprovided with the display device 14 (refer to FIG. 1 ). A touch panel isattached to the display device 14, and various setting operations,selection operations, and the like can be performed by a setting deviceprovided to this touch panel. The molding machine controller 51 is notlimited to the configuration illustrated in FIG. 7 , and may haveanother configuration.

In FIG. 7 , for example, a servo motor 39 is connected to a servoamplifier 53 built into the molding machine controller 51, and a valvecircuit (not illustrated) is connected to a control signal output portof the molding machine controller 51. A rotary encoder 40 is connectedto an input port of the molding machine controller 51. A pressure sensor62 for detecting oil pressure and a temperature sensor 63 for detectingoil temperature are connected to a primary side of the valve circuit,and the pressure sensor 62 and the temperature sensor 63 are connectedto a control signal output port of the molding machine controller 51.

As illustrated in FIG. 7 , the molding machine controller 51 includes acontroller main body 55 and the servo amplifier 53. The controller mainbody 55 has a computer function with built-in hardware such as a centralprocessing unit (CPU) and an internal memory. The internal memory storesa control program 55 p for executing various arithmetic processes andvarious control processes, and includes a data memory 55 m that storesvarious data. The control program 55 p includes a control program forrealizing at least a portion of the molding method. The servo amplifier53 includes a pressure compensating part 56, a speed limiter 57, arotational speed compensating part 58, a torque compensating part 59, acurrent detecting part 60, a speed converting part 61, and the like. Themolding injection pressure Pi or the molding mold clamping force Pc isapplied from the controller main body 55 to the pressure compensatingpart 56, and a speed limit value VL is applied to the speed limiter 57.In this way, a pressure-compensated speed command value is output fromthe pressure compensating part 56, and applied to the speed limiter 57.The speed command value output from a speed limiter 57 is applied to therotational speed compensating part 58, and a torque command value outputfrom this rotational speed compensating part 58 is applied to the torquecompensating part 59. A motor driving current output from the torquecompensating part 59 is supplied to the servo motor 39 to drive theservo motor 39. It should be noted that an encoder pulse obtained fromthe rotary encoder 40 is converted into a speed detection value by thespeed converting part 61 and applied to the rotational speedcompensating part 58, thereby performing feedback control of a minorloop with respect to the rotational speed.

The present invention is not limited to the above-described embodiments,and the detailed configurations, shapes, quantities, techniques, and thelike can be changed, added, or deleted as desired without deviating fromthe gist of the present invention. Further, changes can be made inaccordance with a new type of resin R, and the like.

DESCRIPTIONS OF REFERENCE NUMERALS

-   -   2 Mold    -   2 c Fixed mold    -   2 m Movable mold    -   3 Mold clamping cylinder    -   4 Driving piston    -   4 r Piston rod    -   8 Surveillance monitor    -   9 Gap sensor    -   9 a Sensor element    -   9 b Plate    -   10 Injection molding machine    -   11 Machine base    -   12 Injection device    -   13 Mold clamping device    -   14 Display device    -   16 Screw    -   17 Heating cylinder    -   18 Hopper    -   19 Injection cylinder    -   20 Cover    -   29 Safety door    -   30 Cover    -   31 Fixed board    -   32 Tie bar    -   33 Movable board    -   34 Ejection cylinder    -   35 Mold clamping cylinder    -   39 Servo motor    -   40 Rotary encoder    -   51 Control device (Molding machine controller)    -   53 Servo amplifier    -   62 Pressure sensor    -   63 Temperature sensor    -   55 Controller main body    -   55 p Control program    -   55 m Data memory    -   56 Pressure compensating part    -   57 Speed limiter    -   58 Rotational speed compensating part    -   59 Torque compensating part    -   60 Current detecting part    -   61 Speed converting part    -   R Resin    -   Lm Predetermined gap (Mold gap)    -   Pi Molding injection pressure (Predetermined injection pressure        for performing just-packing control inside mold)    -   Pc Molding mold clamping force (Mold clamping force at which        opening of mold P/L appears when injection molding is performed        at molding injection pressure)    -   VL Speed limit value

What is claimed is:
 1. An injection molding machine comprising: a moldclamping device provided with a mold composed of a fixed mold and amovable mold clamped by a predetermined mold clamping force; aninjection device that fills the mold provided to the mold clampingdevice with a resin containing a foaming agent at a predeterminedinjection pressure; and a control device that controls an operation ofthe mold clamping device and the injection device, the control deviceperforming resin filling control of filling the mold clamped by thepredetermined mold clamping force with the resin at the predeterminedinjection pressure by the injection device, filling stopping control ofstopping the filling when, while monitoring a mold gap of the moldduring the filling, a predetermined mold gap value set in advance isreached, surface layer curing and filled resin cooling control of curinga surface layer of the resin for a certain time and cooling the filledresin for a certain time after the filling is stopped, volume control ofreducing the mold clamping force to control a volume increase aftercuring the surface layer of the resin for a certain time, and taking outcontrol of taking out a foam-molded product by opening the mold afterthe volume control is performed and after cooling the filled resin for acertain time.
 2. The injection molding machine according to claim 1,further comprising: a display panel that displays or displays and setsone or two or more data selected from the mold clamping force, theinjection pressure, the mold gap, the mold gap value, a curing time ofthe surface layer, a cooling time of the filled resin, and the moldclamping force or the mold gap value or a mold gap enlargement speed forthe volume increase.
 3. The injection molding machine according to claim1, wherein the control device sets a starting point of calculation forstarting a surface layer curing time and a resin cooling time in thesurface layer curing and filled resin cooling control to, when data ofthe mold gap and elapsed time are graphed, the moment that the mold gapreaches a predetermined mold gap value.
 4. The injection molding machineaccording to claim 1, wherein the control device controls the volumeincrease in the volume control by using one or two or more forcesselected from the predetermined mold clamping force applied to the mold,a mold opening force by an internal pressure based on foaming of theresin, a mold opening force by a spring provided to the mold, and amechanical mold opening force by a mold clamping cylinder, and reducingthe mold clamping force to enlarge the mold gap to a predeterminedvalue.